Docs: remove deprecated "Debug Dreamview" doc

docs/FAQs/CyberRT_FAQs.md

-Please refer to the  [Apollo Cyber RT FAQ](https://github.com/ApolloAuto/apollo/tree/master/docs/cyber/CyberRT_FAQs.md) under docs/cyber directory.
+Please refer to [Apollo CyberRT FAQ](../cyber/CyberRT_FAQs.md) under the
+`docs/cyber` directory.

docs/FAQs/Dreamview_FAQs.md

 # DreamView FAQs
 
-## I’m having difficulty connecting to localhost:8888 (Dreamview).
+## I had difficulty connecting to <http://localhost:8888> (Dreamview Web UI).
 
-The Dreamview web server is provided by the dreamview node(A node is an
-executable in ROS concept). Before accessing the Dreamview page, you need to
-build the system(including dreamview node) within the docker container following
+The Dreamview web server is provided by the dreamview node (A node is an
+executable in CyberRT terminology). Before accessing Dreamview Web UI, make sure
+Apollo is built within Apollo development Docker container following
 [Apollo Software Installation Guide](../quickstart/apollo_software_installation_guide.md).
-Once built, dreamview node will be started after the step
+Once built, dreamview node will be started by running
 `bash scripts/bootstrap.sh`.
 
 So if you can not access Dreamview, please check:
 
-- Make sure you have dreamview process running correctly. In the latest version,
-  `bash scripts/bootstrap.sh` will report `dreamview: ERROR (spawn error)` if
-  dreamview fails to start. For early version, please check with command:
-  `supervisorctl status dreamview` or `ps aux | grep dreamview`. If dreamview is
-  not running, please refer to
-  [How to Debug a Dreamview Start Problem](../howto/how_to_debug_dreamview_start_problem.md)
-  or go to
-  [Dreamview does not load successfully](#Dreamview-does-not-start-even-though-the-build-is-successful).
+- Make sure you have the Dreamview process running correctly. In the latest
+  version, `bash scripts/bootstrap.sh` will report
+  `dreamview: ERROR (spawn error)` if dreamview fails to start. You can also
+  check with command: `ps aux | grep dreamview`.
 - Make sure the address and port are not blocked by the firewall.
-- Make sure you're using <apollo_host_ip>:8888 instead of localhost:8888 if you
-  are not accessing the Dreamview page through the host machine.
+- Make sure you're using `<apollo_host_ip>:8888` instead of `localhost:8888` if
+  you are accessing the Dreamview UI through another host.
 
 ---
 
@@ -40,7 +36,7 @@ To do so,
 2. Restart apollo
 
 This way, dreamview can be accessed from http://localhost:<PORT_NUMBER>
-(http://localhost:5555 from the example)
+(http://localhost:5555 for this example)
 
 ---
 
@@ -52,7 +48,7 @@ please install them
 
 ---
 
-## How to draw anything in DreamView (e.g. an arrow)
+## How to draw anything in Dreamview (e.g. an arrow)
 
 Dreamview uses https://github.com/mrdoob/three.js as graphics library. You can
 modify the frontend code to draw an arrow using the corresponding API of the
@@ -112,144 +108,6 @@ each time the sim_control is restarted. ![](images/sim_control_2.0.png)
 
 ---
 
-## Dreamview does not start even though the build is successful
-
-There are 2 steps to deducing this issue:
-
-1. Identify if the issue is due to pcl lib through gdb: this can be done by
-   finding the coredump file under `/apollo/data/core/` with name
-   **_core_dreamview.\$PID_**. If you see logs like:
-
-```
-@in_dev_docker:/apollo$ gdb bazel-bin/modules/dreamview/dreamview  data/core/core_dreamview.378
-GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.3) 7.7.1
-Copyright (C) 2014 Free Software Foundation, Inc.
-License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
-This is free software: you are free to change and redistribute it.
-There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
-and "show warranty" for details.
-This GDB was configured as "x86_64-linux-gnu".
-Type "show configuration" for configuration details.
-For bug reporting instructions, please see:
-<http://www.gnu.org/software/gdb/bugs/>.
-Find the GDB manual and other documentation resources online at:
-<http://www.gnu.org/software/gdb/documentation/>.
-For help, type "help".
-Type "apropos word" to search for commands related to "word"...
-Reading symbols from bazel-bin/modules/dreamview/dreamview...done.
-
-warning: exec file is newer than core file.
-[New LWP 378]
-[New LWP 379]
-[Thread debugging using libthread_db enabled]
-Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
-
-warning: the debug information found in "/home/caros/secure_upgrade/depend_lib/libyaml-cpp.so.0.5.1" does not match "/home/caros/secure_upgrade/depend_lib/libyaml-cpp.so.0.5" (CRC mismatch).
-
-Core was generated by `/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamv'.
-Program terminated with signal SIGILL, Illegal instruction.
-#0  0x00007f79ebd32bec in double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*) () from /usr/local/lib/libpcl_sample_consensus.so.1.7
-(gdb) bt
-#0  0x00007f79ebd32bec in double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*) () from /usr/local/lib/libpcl_sample_consensus.so.1.7
-#1  0x00007f79ebcf7f1e in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.7
-#2  0x00007f79f3e1a2da in call_init (l=<optimized out>, argc=argc@entry=2, argv=argv@entry=0x7ffc7bc11c78, env=env@entry=0x7ffc7bc11c90) at dl-init.c:78
-#3  0x00007f79f3e1a3c3 in call_init (env=<optimized out>, argv=<optimized out>, argc=<optimized out>, l=<optimized out>) at dl-init.c:36
-#4  _dl_init (main_map=0x7f79f402e1c8, argc=2, argv=0x7ffc7bc11c78, env=0x7ffc7bc11c90) at dl-init.c:126
-#5  0x00007f79f3e0b29a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
-#6  0x0000000000000002 in ?? ()
-#7  0x00007ffc7bc134bd in ?? ()
-#8  0x00007ffc7bc134eb in ?? ()
-#9  0x0000000000000000 in ?? ()
-(gdb) q
-
-@in_dev_docker:/apollo$ addr2line -C -f -e /usr/local/lib/libpcl_sample_consensus.so.1.7.2 0x375bec
-double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*)
-??:?
-```
-
-More info:
-
-```
-~/playground/apollo$ git rev-parse HEAD
-321bc25633fe2115e8ea4b2e68555c8c0d301b41
-
-~/playground/apollo$ docker image ls
-REPOSITORY          TAG                                    IMAGE ID            CREATED             SIZE
-apolloauto/apollo   dev-x86_64-20180320_1118               6a23927e28c3        7 days ago          6.92GB
-apolloauto/apollo   yolo3d_volume-x86_64-latest            562d2b2b5a71        11 days ago         70.6MB
-apolloauto/apollo   map_volume-sunnyvale_big_loop-latest   80aca30fa08a        3 weeks ago         1.3GB
-apolloauto/apollo   localization_volume-x86_64-latest      be947abaa650        2 months ago        5.74MB
-apolloauto/apollo   map_volume-sunnyvale_loop-latest       36dc0d1c2551        2 months ago        906MB
-
-build cmd:
-in_dev_docker:/apollo$ ./apollo.sh build_no_perception dbg
-```
-
-2. Compile pcl and copy the pcl library files to `/usr/local/lib`:
-
-Inside docker:
-
-```
-(to keep pcl in host, we save pcl under /apollo)
-cd /apollo
-git clone https://github.com/PointCloudLibrary/pcl.git
-git checkout -b 1.7.2 pcl-1.7.2
-```
-
-then hack CMakeLists.txt with :
-
-```
-~/playground/apollo/pcl$ git diff
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index f0a5600..42c182e 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -7,6 +7,15 @@ endif()
-
- set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurations" FORCE)
-
-+if (CMAKE_VERSION VERSION_LESS "3.1")
-+# if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11")
-+    message("Build with c++11 support")
-+# endif ()
-+else ()
-+  set (CMAKE_CXX_STANDARD 11)
-+endif ()
-+
- # In case the user does not setup CMAKE_BUILD_TYPE, assume it's RelWithDebInfo
- if("${CMAKE_BUILD_TYPE}" STREQUAL "")
-   set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "build type default to RelWithDebInfo, set to Release to improve performance" FORCE)
-```
-
-Then build with:
-
-```
-cd pcl
-mkdir build
-cd build
-cmake  ..
-(We don't know the parameters that Apollo used, so we keep it by default)
-
-#backup pcl lib
-mkdir -p /usr/local/lib/pcl.origin
-mv /usr/local/lib/libpcl* /usr/local/lib/pcl.origin
-
-#replace with our build
-cp -a lib/* /usr/local/lib/
-
-ldconfig
-```
-
-And finally restart Dreamview using
-
-```
-    bash scripts/bootstrap.sh stop
-    bash scripts/bootstrap.sh start
-```
-
----
-
 ## I want to plot my own graphs for my algorithms, where should I go?
 
 Go to the PnC Monitor section in

docs/FAQs/Software_FAQs.md

@@ -9,30 +9,6 @@ successfully able to use them.
 
 ---
 
-## I’m having difficulty connecting to localhost:8888 (Dreamview).
-
-The Dreamview web server is provided by the dreamview node(A node is an
-executable in ROS concept). Before accessing the Dreamview page, you need to
-build the system(including dreamview node) within the docker container following
-the
-[Software Installation Guide](../quickstart/apollo_software_installation_guide.md).
-Once built, dreamview node will be started after the step
-`bash scripts/bootstrap.sh`.
-
-So if you can not access Dreamview, please check:
-
-- Make sure you have dreamview process running correctly. In the latest version,
-  `bash scripts/bootstrap.sh` will report `dreamview: ERROR (spawn error)` if
-  dreamview fails to start. For early version, please check with command:
-  `supervisorctl status dreamview` or `ps aux | grep dreamview`. If dreamview is
-  not running, please refer to
-  [How to Debug a Dreamview Start Problem](../howto/how_to_debug_dreamview_start_problem.md).
-- Make sure the address and port are not blocked by the firewall.
-- Make sure you're using <apollo_host_ip>:8888 instead of localhost:8888 if you
-  are not accessing the Dreamview page through the host machine.
-
----
-
 ## How can I perform step-by-step debugging?
 
 The majority of bugs can be found through logging (using AERROR, AINFO, ADEBUG).
@@ -61,15 +37,14 @@ the BUILD files properly and apollo.sh will build your module automatically
 ## Build error "docker: Error response from daemon: failed to copy files: userspace copy failed":
 
 An error message like this means that your system does not have enough space to
-build Apollo and the build process will fail. To resolve this issue, run the
-following to free up some space:
+build Apollo. To resolve this issue, run the
+following command to free up some space on your host:
 
 ```
 docker/setup_host/cleanup_resources.sh
 ```
 
-If it does not work, delete the Apollo repo, free up some space and then try
-again.
+Run `bash apollo.sh clean -a` inside Docker to free more.
 
 ---
 

docs/FAQs/Software_FAQs_cn.md

 # 软件 FAQ
 
-## 除了 Ubuntu 之外，其他操作系统还能使用吗？
+## 除了 Ubuntu 之外，能用其它操作系统吗？
 
 我们只对 Ubuntu 进行了测试，这意味着它是我们目前正式支持的唯一操作系统。欢迎开发
 者尝试不同的操作系统，如果能够成功地使用它们，可以分享补丁与社区。
@@ -10,22 +10,18 @@
 Dreamview 网页服务器由 Dreamview 节点提供。在访问 Dreamview 页面之前，您需要按
 照[Apollo 软件安装指南](../quickstart/apollo_software_installation_guide.md) 编
 译 DOCKER 容器内的系统（包括 Dreamview 节点）。一旦编译成功，Dreamview 节点将在
-步骤 "bash scripts/bootstrap.sh" 之后启动。
+步骤 `bash scripts/bootstrap.sh` 中启动。
 
 因此，如果你不能访问 Dreamview，请检查：
 
 - 确保您的 Dreamview 进程正确运行。在最新版本中，如果 Dreamview 无法启动
-  ，`bash scripts/bootstrap.sh`会报告`dreamview: ERROR (spawn error)`。对于早期
-  版本，请使用命令检查：`supervisorctl status dreamview` 或者
-  `ps aux | grep dreamview`。如果 Dreamview 没有运行，请参
-  阅[如何调试 ValueVIEW 启动问题](../howto/how_to_debug_dreamview_start_problem.md)。
+  ，`bash scripts/bootstrap.sh`会报告`dreamview: ERROR (spawn error)`。或使用命
+  令检查： `ps aux | grep dreamview`。
 - 确保地址和端口不被防火墙拦截。
-- 如果您没有通过主机访问 Dreamview 页面，确保您使用的是<Apollo_host_ip>：8888 而
-  不是 localhost：8888。
+- 如果您是通过其它主机访问 Dreamview 页面，确保您使用的是
+  `<apollo_host_ip>:8888` 而不是 `localhost:8888`。
 
 ## 我如何进行分步调试？
 
 大多数 bug 可以通过日志记录找到（使用 AERROR, AINFO, ADEBUG）。如果需要一步一步
-的调试，我们建议使用 gdb
-
-## 我如何运行离线可视化感知？
+的调试，我们建议使用 GDB.

docs/demo_guide/README.md

@@ -51,7 +51,7 @@ Note:
 
 > The `--loop` option enables record to keep playing in a loop playback mode.
 
-## Open **http://127.0.0.1:8888** in your favorate browser (e.g. Chrome) to access Apollo Dreamview
+## Open <http://127.0.0.1:8888> in your favorate browser (e.g. Chrome) to access Apollo Dreamview
 
 The following screen should be shown to you and the car in Dreamview is happy to
 move around!

docs/demo_guide/README_cn.md

@@ -43,7 +43,7 @@ cyber_recorder play -f docs/demo_guide/demo_3.5.record --loop
 
 选项 `--loop` 用于设置循环回放模式.
 
-## 在浏览器中输入**localhost:8888**访问 Apollo Dreamview
+## 在浏览器中输入<http://localhost:8888>访问 Apollo Dreamview
 
 如下图所示： ![](images/dv_trajectory.png) 如果一切正常，现在您应该能看到一辆汽
 车在模拟器里移动。

docs/howto/README.md

@@ -15,11 +15,9 @@
 - [How to migrate to the updated apollo master from previous versions.md](how_to_migrate_to_the_updated_apollo_master_from_old_versions.md)
 
 ## Debugging and troubleshooting
-- [How to debug dreamview start problem](how_to_debug_dreamview_start_problem.md)
 - [How to troubleshoot your ESD CAN device](how_to_troubleshoot_esdcan.md)
 
 ### Chinese versions
-- [How to debug dreamview start problem](how_to_debug_dreamview_start_problem_cn.md)
 - [How to troubleshoot your ESD CAN device](how_to_troubleshoot_esdcan_cn.md)
 
 ## Extended modules
@@ -81,4 +79,4 @@
 
 ### Chinese versions
 - [How to generate and push images into Docker](how_to_generate_and_push_docker_images_cn.md)
-- [How to solve slow pull from cn](how_to_solve_slow_pull_from_cn.md)
+- [How to solve slow pull from CN](how_to_solve_slow_pull_from_cn.md)

docs/howto/how_to_debug_dreamview_start_problem.md

-## How to Debug the Dreamview Start Problem
-
-### Steps to Start Dreamview
-
-If you encounter problems when starting Dreamview in the `docker/scripts/dev` sequence, first check if you are using the correct commands as shown below.
-
-```bash
-$ bash docker/scripts/dev_start.sh
-$ bash docker/scripts/dev_into.sh
-$ bash apollo.sh build
-$ bash scripts/bootstrap.sh
-```
-### Dreamview Fails to Start
-
-If Dreamview fails to start, use the script below to check the Dreamview startup log and restart Dreamview.
-
-```bash
-# Start Dreamview in foreground to see any error message it prints out during startup
-$ bash scripts/dreamview.sh start_fe
-
-# check dreamview startup log
-$ cat data/log/dreamview.out
-terminate called after throwing an instance of 'CivetException'
-  what():  null context when constructing CivetServer. Possible problem binding to port.
-
-$ sudo apt-get install psmisc
-
-# to check if dreamview is running from other terminal
-$ sudo lsof -i :8888
-
-# kill other running/pending dreamview
-$ sudo fuser -k 8888/tcp
-
-# restart dreamview again
-$ bash scripts/dreamview.sh
-```
-
-### Debug dreamview with gdb
-
-If you get nothing in dreamview startup logs, you can try to debug dreamview with gdb, use the following commands:
-
-```
-$ gdb --args /apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf
-# or
-$ source scripts/apollo_base.sh;
-$ start_gdb dreamview
-```
-
-Once gdb is launched, press `r` and `enter` key to run,  if dreamview crashes, then get the backtrace with `bt`.
-
-### CPU does not support FMA/FMA3 instructions
-
-If you see an error `Illegal instruction` and something related with **libpcl_sample_consensus.so.1.7** in gdb backtrace, then you probably need to rebuild pcl lib from source by yourself and replace the one in the docker.
-
-This usually happens when you're trying to run Apollo/dreamview on a machine that the CPU does not support FMA/FMA3 instructions, it will fail because the prebuilt pcl lib shipped with docker image is compiled with FMA/FMA3 support.
-
-There are 2 steps to resolve this issue:
-1. Identify if the issue is due to pcl lib through gdb:
-    find the coredump file under /apollo/data/core/ with name core_dreamview.$PID.
-If you see logs like:
-```
-@in_dev_docker:/apollo$ gdb bazel-bin/modules/dreamview/dreamview  data/core/core_dreamview.378
-GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.3) 7.7.1
-Copyright (C) 2014 Free Software Foundation, Inc.
-License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
-This is free software: you are free to change and redistribute it.
-There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
-and "show warranty" for details.
-This GDB was configured as "x86_64-linux-gnu".
-Type "show configuration" for configuration details.
-For bug reporting instructions, please see:
-<http://www.gnu.org/software/gdb/bugs/>.
-Find the GDB manual and other documentation resources online at:
-<http://www.gnu.org/software/gdb/documentation/>.
-For help, type "help".
-Type "apropos word" to search for commands related to "word"...
-Reading symbols from bazel-bin/modules/dreamview/dreamview...done.
-
-warning: exec file is newer than core file.
-[New LWP 378]
-[New LWP 379]
-[Thread debugging using libthread_db enabled]
-Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
-
-warning: the debug information found in "/home/caros/secure_upgrade/depend_lib/libyaml-cpp.so.0.5.1" does not match "/home/caros/secure_upgrade/depend_lib/libyaml-cpp.so.0.5" (CRC mismatch).
-
-Core was generated by `/apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamv'.
-Program terminated with signal SIGILL, Illegal instruction.
-#0  0x00007f79ebd32bec in double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*) () from /usr/local/lib/libpcl_sample_consensus.so.1.7
-(gdb) bt
-#0  0x00007f79ebd32bec in double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*) () from /usr/local/lib/libpcl_sample_consensus.so.1.7
-#1  0x00007f79ebcf7f1e in _GLOBAL__sub_I_sac.cpp () from /usr/local/lib/libpcl_sample_consensus.so.1.7
-#2  0x00007f79f3e1a2da in call_init (l=<optimized out>, argc=argc@entry=2, argv=argv@entry=0x7ffc7bc11c78, env=env@entry=0x7ffc7bc11c90) at dl-init.c:78
-#3  0x00007f79f3e1a3c3 in call_init (env=<optimized out>, argv=<optimized out>, argc=<optimized out>, l=<optimized out>) at dl-init.c:36
-#4  _dl_init (main_map=0x7f79f402e1c8, argc=2, argv=0x7ffc7bc11c78, env=0x7ffc7bc11c90) at dl-init.c:126
-#5  0x00007f79f3e0b29a in _dl_start_user () from /lib64/ld-linux-x86-64.so.2
-#6  0x0000000000000002 in ?? ()
-#7  0x00007ffc7bc134bd in ?? ()
-#8  0x00007ffc7bc134eb in ?? ()
-#9  0x0000000000000000 in ?? ()
-(gdb) q
-
-@in_dev_docker:/apollo$ addr2line -C -f -e /usr/local/lib/libpcl_sample_consensus.so.1.7.2 0x375bec
-double boost::math::detail::erf_inv_imp<double, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> >(double const&, double const&, boost::math::policies::policy<boost::math::policies::promote_float<false>, boost::math::policies::promote_double<false>, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy, boost::math::policies::default_policy> const&, mpl_::int_<64> const*)
-??:?
-```
-
-More info:
-```
-~/playground/apollo$ git rev-parse HEAD
-321bc25633fe2115e8ea4b2e68555c8c0d301b41
-
-~/playground/apollo$ docker image ls
-REPOSITORY          TAG                                    IMAGE ID            CREATED             SIZE
-apolloauto/apollo   dev-x86_64-20180320_1118               6a23927e28c3        7 days ago          6.92GB
-apolloauto/apollo   yolo3d_volume-x86_64-latest            562d2b2b5a71        11 days ago         70.6MB
-apolloauto/apollo   map_volume-sunnyvale_big_loop-latest   80aca30fa08a        3 weeks ago         1.3GB
-apolloauto/apollo   localization_volume-x86_64-latest      be947abaa650        2 months ago        5.74MB
-apolloauto/apollo   map_volume-sunnyvale_loop-latest       36dc0d1c2551        2 months ago        906MB
-
-build cmd:
-in_dev_docker:/apollo$ ./apollo.sh build_no_perception dbg
-```
-2. Compile pcl and copy the pcl library files to `/usr/local/lib`:
-
-See [/apollo/WORKSPACE.in](../../WORKSPACE.in) to identify your pcl library version:
-- Prior to Apollo 5.0 (inclusive): pcl-1.7
-- After Apollo 5.0: pcl-1.9
-
-Inside docker:
-```
-(to keep pcl in host, we save pcl under /apollo)
-cd /apollo
-git clone https://github.com/PointCloudLibrary/pcl.git
-
-git checkout -b <your pcl-lib version> pcl-<your pcl-lib version>
-Ex: git checkout -b 1.7.2 pcl-1.7.2
-    git checkout -b 1.9.1 pcl-1.9.1
-```
-then hack CMakeLists.txt with :
-```
-~/playground/apollo/pcl$ git diff
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index f0a5600..42c182e 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -7,6 +7,15 @@ endif()
-
- set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "possible configurations" FORCE)
-
-+if (CMAKE_VERSION VERSION_LESS "3.1")
-+# if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-+    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=gnu++11")
-+    message("Build with c++11 support")
-+# endif ()
-+else ()
-+  set (CMAKE_CXX_STANDARD 11)
-+endif ()
-+
- # In case the user does not setup CMAKE_BUILD_TYPE, assume it's RelWithDebInfo
- if("${CMAKE_BUILD_TYPE}" STREQUAL "")
-   set(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "build type default to RelWithDebInfo, set to Release to improve performance" FORCE)
-```
-
-Then build with:
-```
-cd pcl
-mkdir build
-cd build
-cmake  ..
-make
-(We don't know the parameters that Apollo used, so we keep it by default)
-
-#backup pcl lib
-mkdir -p /usr/local/lib/pcl.origin
-mv /usr/local/lib/libpcl* /usr/local/lib/pcl.origin
-
-#replace with our build
-cp -a lib/* /usr/local/lib/
-
-ldconfig
-```
-
-And finally restart Dreamview using
-```
-    bash scripts/bootstrap.sh stop
-    bash scripts/bootstrap.sh start
-```
-
-### CPU does not support AVX instructions
-
-If CPU does not support AVX instructions, and you gdb the coredump file under /apollo/data/core/ with name core_dreamview.$PID, you may see logs like:
-
-```
-Program terminated with signal SIGILL, Illegal instruction.
-#0  0x000000000112b70a in std::_Hashtable<std::string, std::string, std::allocator<std::string>, std::__detail::_Identity, std::equal_to<std::string>, google::protobuf::hash<std::string>, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, true, true> >::_Hashtable (this=0x3640288, __bucket_hint=10,
-    __h1=..., __h2=..., __h=..., __eq=..., __exk=..., __a=...)
----Type <return> to continue, or q <return> to quit---
-    at /usr/include/c++/4.8/bits/hashtable.h:828
-828          _M_rehash_policy()
-```
-
-To resolve this issue, in apollo/apollo.sh, comment or delete:
-```
---copt=-mavx2
-```
-Then try to build and start dreamview again.

docs/howto/how_to_debug_dreamview_start_problem_cn.md

-## 如何调试Dreamview启动问题
-
-### Dreamview的启动步骤
-
-如果在`docker / scripts / dev`序列中启动Dreamview时遇到问题，请首先检查是否使用了如下所示的正确命令。
-
-```bash
-$ bash docker/scripts/dev_start.sh
-$ bash docker/scripts/dev_into.sh
-$ cd /apollo
-$ bash apollo.sh build
-$ bash scripts/dreamview.sh
-```
-### Dreamview启动失败
-
-如果Dreamview无法启动，请使用下面的脚本检查Dreamview的启动日志并重新启动Dreamview。
-
-```bash
-# Start Dreamview in foreground to see any error message it prints out during startup
-$ bash scripts/dreamview.sh start_fe
-
-# check dreamview startup log
-$ cat data/log/dreamview.out
-terminate called after throwing an instance of 'CivetException'
-  what():  null context when constructing CivetServer. Possible problem binding to port.
-
-$ sudo apt-get install psmisc
-
-# to check if dreamview is running from other terminal
-$ sudo lsof -i :8888
-
-# kill other running/pending dreamview
-$ sudo fuser -k 8888/tcp
-
-# restart dreamview again
-$ bash scripts/dreamview.sh
-```
-
-### 用gdb调试
-
-如果dreamview的启动日志中没有任何有效内容，您可以尝试使用gdb调试dreamview，请使用以下命令：
-
-```
-$ gdb --args /apollo/bazel-bin/modules/dreamview/dreamview --flagfile=/apollo/modules/dreamview/conf/dreamview.conf
-# or
-$ source scripts/apollo_base.sh;
-$ start_gdb dreamview
-```
-
-一旦gdb启动，按下`r`和`enter`键运行，如果dreamview崩溃，然后用`bt`获得回溯。
-
-如果您在gdb backtrace中看到错误“非法指令”以及与 **libpcl_sample_consensus.so.1.7** 相关的内容，那么您可能需要自己从源代码重建pcl lib并替换docker中的那个。
-
-这通常发生在您尝试在CPU不支持FMA/FMA3指令的机器上运行Apollo/dreamview时，它会失败，因为docker image附带的预构建的pcl lib是使用FMA/ FMA3支持编译的。
\ No newline at end of file